##############################################################################
# CMake
##############################################################################

cmake_minimum_required(VERSION 2.8.0)
project(kinova_driver_qt)

##############################################################################
# Catkin
##############################################################################

# qt_build provides the qt cmake glue, roscpp the comms for a default talker
find_package(catkin REQUIRED COMPONENTS qt_build roscpp geometry_msgs std_msgs actionlib actionlib_msgs  message_generation)
include_directories(${catkin_INCLUDE_DIRS})

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
  Cartesian.msg
  Fingers.msg
  Joints.msg
  Status.msg
 )

## Generate services in the 'srv' folder
 add_service_files(
   FILES
  get_current_state.srv
  goto_home_pos.srv
 )

## Generate actions in the 'action' folder
 add_action_files(
   FILES
 moveFingers.action
 moveKinova.action
 setJoints.action
 simpleKinovaAction.action
 )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   geometry_msgs  std_msgs actionlib_msgs
 )

# Use this to define what the package will export (e.g. libs, headers).
# Since the default here is to produce only a binary, we don't worry about
# exporting anything. 
catkin_package()

##############################################################################
# Qt Environment
##############################################################################

# this comes from qt_build's qt-ros.cmake which is automatically 
# included via the dependency call in package.xml
rosbuild_prepare_qt4(QtCore QtGui QtNetwork QtTest) # Add the appropriate components to the component list here

##############################################################################
# Sections
##############################################################################

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/kinova_driver_qt/*.hpp)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

##############################################################################
# Sources
##############################################################################

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp include/kinova_driver_qt/*.hpp)

##############################################################################
# Binaries
##############################################################################

add_executable(kinova_driver_qt ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(kinova_driver_qt ${QT_LIBRARIES} ${catkin_LIBRARIES})
install(TARGETS kinova_driver_qt RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

